where \(\ell _e:\mathbb {R}^{n_x} \times \mathbb {R}^{n_u} \rightarrow \mathbb {R}\)  is a general economic stage cost which is not necessarily quadratic or positive definite. In order to achieve the above control objectives, we resort to EMPC with zone tracking [1]} and takes into account the presence of process disturbance \(w\)  in the design of the EMPC.
